Unifying Decision-Making and Trajectory-Planning in Unsignalized Intersections Using Time-Varying Potential Fields

• URL: http://arxiv.org/abs/2607.13626v2
• Date: Wed, 22 Jul 2026 10:59:02 GMT
• Title: Unifying Decision-Making and Trajectory-Planning in Unsignalized Intersections Using Time-Varying Potential Fields
• Abstract summary: This paper presents a novel framework for integrated Decision-Making (DM) and Trajectory Planning (TP) for automated vehicles at unsignalized intersections.<n>The proposed method effectively unifies DM and TP, ensuring the generation of a feasible and safe reference trajectory.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents a novel framework for integrated Decision-Making (DM) and Trajectory Planning (TP) for automated vehicles at unsignalized intersections. The approach leverages a Finite Horizon Optimal Control Problem (FHOCP) that employs Time-Varying Artificial Potential Fields (TV-APF). By utilizing short-horizon motion prediction and a dedicated conflict-zone occupancy coefficient, the framework suitably accounts for potential collisions within the FHOCP. The proposed method effectively unifies DM and TP, ensuring the generation of a feasible and safe reference trajectory. Simulation results in multi-vehicle traffic scenarios demonstrate the effectiveness of the approach.

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